def DefaultShake():
import shake_strategy_trigger as shake_trig
ArmConnect()
shake_trig.arm_state_listener()
default_shaking_thread = threading.Thread(target=shake_trig.DefaultShaking)
default_shaking_thread.start()
del shake_trig
def RecordnStart():
import shake_strategy_trigger as shake_trig
ArmConnect()
shake_trig.arm_state_listener()
record_n_start_thread = threading.Thread(
target=shake_trig.SpeechTriggerShaking)
record_n_start_thread.start()
del shake_trig
def GripOpen():
import shake_strategy_trigger as shake_trig
ArmConnect()
shake_trig.arm_state_listener()
op_thread = threading.Thread(target=shake_trig.Hiwin_Action.GripCtrl,
args=(shake_cont.Current_Pos,
shake_cont.speed_value,
shake_cont.gp_open, '控制夾爪', '鬆開'))
op_thread.start()
del shake_trig
def GripTightCatch():
import shake_strategy_trigger as shake_trig
ArmConnect()
shake_trig.arm_state_listener()
catch_thread = threading.Thread(
target=shake_trig.Hiwin_Action.GripCtrl,
args=(shake_cont.Current_Pos, shake_cont.speed_value,
shake_cont.gp_tight_catch, '控制夾爪', '緊夾'))
catch_thread.start()
del shake_trig
def PosAdjustTest():
global speed_mode_var
speed_mode_var.set(value=0)
SpeedMode()
import shake_strategy_trigger as shake_trig
ArmConnect()
shake_trig.arm_state_listener()
adjust_thread = threading.Thread(target=shake_trig.PosAdjust)
adjust_thread.start()
del shake_trig
def DefaultShake():
if not cnct_var.get():
tk.messagebox.showwarning('ERROR', 'Hiwin is NOT connected!')
else:
import shake_strategy_trigger as shake_trig
ArmConnect()
shake_trig.arm_state_listener()
default_shaking_thread = threading.Thread(
target=shake_trig.DefaultShaking)
default_shaking_thread.start()
del shake_trig